JPS60164207A - Erecting device - Google Patents

Abstract

PURPOSE:To obtain excellent erecting characteristics even when a slant angle is a minute angle, by supporting paired containers by a supporting member around a shafts, which crosses the surfaces of liquid in the paired containers at about right angles so that the paired containers and a liquid pipe are turned, and rotating the supporting member at a constant speed. CONSTITUTION:A central hole 3-26' of a disc part 3-26 at the bottom of an ash- tray shaped supporting member 3-25 is coupled to a shaft 3-23. The supporting member 3-25 is rotated together with the shaft 3-23 as a unitary body. The upper end of the shaft 3-23 is linked to a driving shaft 3-29 of a motor 3-28 having a built-in speed reducing mechanism through a coupling 3-27. A pair of pot type containers 3-40 and 3-40' is provided at positions separated by 180 deg. downward at an upper flange part 3-26'' of the supporting member 3-25. Bottom parts of both containers are communicated by a liquid pipe 3-41. Both pot type containers 3-40 and 3-40' are filled with working liquid 3-43 by a half level of each container.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention The present invention relates to an upright device used in a horizontal instrument that uses a gyro to detect and transmit the inclination angle of a navigation object such as a ship. The present invention relates to a so-called erecting device that applies torque to align the spin axis with the vertical line in response to the biased needle.

BACKGROUND ART AND PROBLEMS THEREOF FIG. 1 is a perspective view showing a schematic structure of an example of a conventional horizon to which the present invention is applied. In the figure, reference numeral 11 denotes a gyro case, which houses a gyro rotor (2) whose spin axis substantially coincides with a vertical line and rotates at high speed.

(3) is an upright device for holding the spin axis of the gyro i:j-ta (2) substantially vertically.

The gyro case (1) has pinch axes (4) and (4') at positions perpendicular to the spin axis. (5) is a gimbal ring, which is arranged around the outer periphery of the gyro case as shown in the figure. The gimbal ring (5) has a pinch shaft bearing (61).

(6'), which are connected to the pinch shafts (41, (4)
The gyro case position is rotatably supported around the outer shafts (41, (4')) by fitting the pitch shaft bearings (61, (4')) into each other. (
6'), the roll axis +71. (7'), and the roll shaft (71, (7') has two bearing bases attached to the base 00 + 81. Roll shaft bearings (9) installed on the base 00.

(9') respectively, and connect the gimbal ring (5) to the roll shaft +71. It is rotatably supported around (7').

(11) is a pitch angle transmitter, which is connected to the pinch axis 141. between the gimbal ring (5) and the gyro case (1). (4')
A signal corresponding to the surrounding rotation angle (that is, the pitch angle of the vehicle) is transmitted to the outside. (12) is a roll angle transmitter and the roll axis (7) between the midin pal ring (5) and the base Ql.

Angle of rotation around (7') (i.e. roll angle of the vehicle)
The corresponding signal is transmitted to the outside.

FIG. 2 is an enlarged sectional view of an example of the conventional upright device (3) shown in FIG. In this example, the gyro rotor (2
) A disk-shaped magnet (3-1) of the upright device (3) is fitted into the tip of an extension (2-2) provided above the shaft (2-1) of the upright device (3). On the other hand, the gyro case (11) has an annular groove (1-1) in the upper part, and this is a sun gear having a boss (3-3) into which the inner ring of the bearing (3-4) is fitted. (3-2) is installed.Erection device (
The rotating part (3-5) of 3) is supported by the outer ring of the bearing (3-4), and also has a circular ring (3-5) made of a metal with good conductivity such as copper, opposing the binary magnet 3-1). 3-6) is fixed. The shaft (3-7) supported by the rotating part (3-5) has a
Planetary gear (3-8) meshing with the sun gear (3-2)
and a ratchet gear (3-9) are each coaxially fixed.

As shown in FIG. 3, which is a top view of the main part of FIG. 2, the ratchet member (3-10) is connected to the ratchet gear (3-9).
), and is rotatably supported by the rotating part (3-5) so as to constitute a speed damper, i.e., a speed regulating mechanism part. As shown in the figure, the rotating section (3-5) has two arms (341) and (3-12) at a position opposite to the speed regulating mechanism section. The arm (3-11) has a stopper (3-13) at the position where it contacts the ball (3-1, 5).
The arm (3-12) also has a roller (3-14) at a position where it contacts the ball (3-15).

The magnet (3-1> is attached to the shaft (2-1) of the gyro rotor (2).
), it rotates integrally with the gyro rotor (2) at high speed. On the other hand, the rotating part (3-5) includes a ring (3-6) and the magnet (3-1).
), the torque caused by the eddy current is transmitted to the gyro rotor (2-5).
), i.e., upwards. The rotation of the rotating part (3-5) is transmitted (adjusted) to the ratchet gear (3-9) and ratchet member (3-10) via the sun gear (3-2) and planetary gear (3-8). speed mechanism),
Since the rotary part (3-5) receives a damping torque corresponding to the rotational speed, the rotational speed of the rotating part (3-5) is maintained at a low speed and substantially constant.

Figures 4 and 4 are views of the conventional standing device shown in Figures 2 and 3 above, viewed from above (left and right opposite to Figure 3);
The gyro case (1) is shown tilted by an angle θ around the axis (X-X') in the figure.

As shown in the figure, when the ball (3-15) is on the right half of the (Y-Y') axis, it is so-called -1-ri Ji, and the deceleration torque due to the weight of the ball (3-15) is occurring, and the ball (3-15) is hit by the guess (3-1).
3), it receives resistance and the rotating part (3-5
) rotation speed becomes slower.

On the other hand, when the ball comes to the left side of the (Y-Y') axis, it is on a downward slope, so the ball (3-15) is between the arms (3-11) and (3-12). Ball (315
)'s movable range angle φ0 rolls due to its own weight,
It rotates together with the rotating part (3-5) while in contact with the roller (3-14). In this case, the torque due to the weight of the ball (3-15) acts to accelerate the rotating part (3-5), and the ball (3-15> is the CI-RA (3-14)).
Because the arm (3-11) and (3-11) are in contact with the
12) The movable range angle φo 7! During this period, the ball (3-15) rotates on its own axis without any resistance, so the rotation speed of the ball (3-15) on the left half surface becomes faster than on the right half surface. Become.

In other words, the ball (3-15) spends a longer time at 110 due to the inclination angle θ of the spin axis of the gyro rotor (2), so the torque shown by T in FIG. 4 is generated. This torque T acts as a preset torque of the gyro to reduce the inclination of the spin axis, and finally aligns the spin axis with the vertical line. The erecting device (3) thus performs its function. however,
In the above-mentioned conventional device 1Y11(3), there are the following deficiencies Ij, t.

That is, (2) In order to decelerate the rotation of the gyro rotor i21, which rotates at a high speed of about 11,000 Orpm, to a low speed of about 1 to 2 Orpm, and to keep the rotation constant, the magnet (3-1) and the ring are used. A torque transmission mechanism consisting of (3-0), a reduction mechanism consisting of a sun gear (3-2) and a planetary gear (3-8), a ratchet gear (3-9) and a ratchet member (3-10) It requires special and multiple parts such as the speed regulating mechanism, and furthermore, it takes a long time to assemble them.

2) Insufficient lubrication of the speed reduction mechanism, speed control mechanism, etc. will impede the smooth rotation of the rotating parts and cause the device to lose its function as an erecting device, so maintenance and Jjλ inspection are required at regular intervals.

3) The rotation of the gyro rotor (2) is controlled by the gyro case (1).
), it becomes impossible to seal the inside of the gyro case (1), and dust and the like get mixed into the gyro case (11), shortening the life of the spin shaft bearing.

4) As the heavy ball (3-15) rotates, periodic torque acts on it, and even when the spin axis is aligned with the vertical line, the spin axis does not remain completely stationary, and a small It continues to make conical motion with a conical angle.

In other words, the amount of this conical motion is li! The difference is 4.

5) Due to rolling friction between the ball (3-15) and the groove (1-1>), if the inclination angle θ of the gyro case (1) is small, the gravity acting on the ball (3-15) A dead zone is created in the force, and the correct standing torque is no longer generated.

OBJECTS OF THE INVENTION The object of the invention is to provide an upright device for horizontal bales that does not have the drawbacks mentioned above.

Invention 4! I! Essentially, an upright device according to the present invention includes a gyro case incorporating a gyro rotor whose spin axis rotates at high speed in a substantially vertical direction, and a gyro case that rotates around a first horizontal axis perpendicular to the spin axis. [i+ 11.1 It is used in a horizontal instrument having a second support means that supports the gyro rotor vertically, and functions to hold the spin axis of the gyro rotor vertically.
In the present invention, this erecting device includes a base, a motor attached to the base, at least a pair of containers, a hydraulic fluid that is less than halfway in the pair of containers, and a hydraulic fluid that is supplied at an appropriate time. A liquid pipe is provided to allow fluid to flow between the pair of containers at a constant rate, and the pair of containers is rotated so as to rotate the pair of containers and the liquid pipe around an axis substantially perpendicular to the liquid level in the pair of containers. The present invention is characterized in that it comprises a supporting member, and the supporting member is rotated at a constant speed by the motor.

Embodiment FIG. 5 shows an upright device (3) according to the present invention used in a horizontal instrument.
) is a sectional view showing one embodiment of the invention. In this example,
At the top of the gyro case (11) is a U-shaped base (3
-20) so that its connection part (3-20') becomes -H. The base (3-20> has a bearing holding part (3-20') that protrudes downward from the connecting part (3-20') at its center.
3-21), within which there are e.g. two ball bearings (3-22) spaced apart in the vertical direction.

(3-22') are fitted and held respectively. The ball bearing (
3-22) A shaft (3-23) having a flange (3-23') at the bottom is fitted into the inner ring of (3-22').

The shaft (3-23) has a flange (3-23') -
At this step, fit the central opening (3-26') of the bottom disc part (3-26) of the gray I-shaped support member (3-25>),
The support member (3-25) is made to rotate together with the shaft (3-23>.Meanwhile, the upper end of the shaft (3-23) is connected to the coupling (3-27) (a coil spring shown in the figure). Although not shown, the reduction mechanism is connected to the drive shaft (3-29) of one of the motors (3-28>) via the drive shaft (3-29) (not shown).

On the other hand, the -to side flange portion (3-25) of the support member (3-25)
26”), a pair of free-standing containers (3-40) and (3-40
') are provided above at positions 180 degrees apart as shown in the figure, and the bottoms of both are connected through a liquid pipe (3-41). Private rental container (3-40).

(3-40') is filled with hydraulic fluid (3-43) until it is less than half full. The hydraulic fluid <3-43> passes freely through the liquid pipe (3-41) into the internal container (3-4(+)
, (3-40'), but the liquid can flow between the liquid pipe (3-40').
It has a fixed time constant determined by the inner cross-sectional area and length of the hydraulic fluid (3-43) and the viscosity of the hydraulic fluid (3-43).For example, if the liquid level in the pot-shaped container on one side is set to i14 3-43) is caused to move freely, the liquid level difference in the internal container changes gradually according to the above time constant,
The phenomenon of reaching equilibrium can be observed. Rental container (3-
40), (3-40'), in order to communicate the air above them to h2, both ends of the air pipe (3-44>) are connected to internal containers (3-40), ( It may also be connected to the air holes (3-45) and (3-45') (the latter not shown) provided at the top of the pot (3-40'). Model size! (3-40), (3-4
0') is the axis (3
-23) at an appropriate speed.

FIG. 6 is an explanatory view of the main parts of the upright device (31) of the present invention shown in FIG. 5 in order to explain its principle. FIG. 40') is the righteousness (Y
-Y') axis and the entire container is tilted at an angle θ around the (x-χ') axis (3-4
0).

If (3-"40') does not rotate and remains stationary, the liquid level of the hydraulic fluid (3-43) in the inner container will create a plane perpendicular to the force 111, and in this figure -Jζ chain line (3-4
3'). FIG. 6B is a view of FIG. 6A viewed from above. From this state shown in Figure 6B, the inner container (
3-40) (3-40') is rotated by the motor (3-28) through the speed reduction device in the direction of the arrow (^1), and once the liquid volume has increased, the container (3-40') Ha, (OY'
) When turning from the axial direction to the (Ox) axial direction, that is, on an uphill slope, the liquid volume cannot be suddenly reduced due to the existence of the time constant of the working liquid (3-43) described above. On the other hand, in the container (3-40), the liquid level does not rise suddenly on the downhill slope from the (OY) axis to the (0χ') axis to the (OY') axis, and for this reason, during continuous rotation. Inner container (3-40
), (3-40') is on the (Y-'1') axis, the liquid level in the inner container is at
ζ, dotted line (3-43”) instead of dashed-dotted line (3-43’)
-I feel like I'm bouncing off. At this time, the position of the container with the largest amount of liquid is not on the (OV') axis - H, but is much closer to the (0x) axis, and the position of the container with the least amount of liquid is , on the opposite side of 180°. In this way, when there is no rotation or no time constant, the torque produced by the hydraulic fluid (3-43> is (
Although it was around the (χ-X') axis, the direction that produces the maximum torque is shifted to a direction closer to the (OY) axis than the (0x) axis due to the rotation and the existence of a time constant. −
A torque component around the Y') axis is produced, and this torque component is proportional to the angle θ if the rotation and time constant are constant, so it exerts an erecting action on the spin axis. That is, the spin axis moves so as to produce a precession around the (X-X') axis and make the angle θ zero. The erecting device w(3) in FIG. 5 acts as an excellent erecting device.

FIG. 7 is a diagram similar to the 61st NI +1 of another embodiment of the present invention. In this example, IHI is 5th and 1st.
Two pairs of free-standing containers are used. The effect of the example shown in Figure 7 is basically the same as the pair of cases shown in Figure 5, but the variation in the standing torque due to the rotation of the container is much smaller than in the former case, and the gyro stands up smoothly. Become.

Therefore, an erecting device having more than two pairs of hydraulic fluid containers is useful in further controlling the gyro and smoothly erecting its spin axis.

FIG. 8 is a diagram similar to FIG. 6B, showing an example of the present invention that corresponds to such a large number of container pairs.

In this example, instead of making many containers separately, one (IM) annular container (3-50) is attached to the support member (3-25), and a number of partitions & (3-51) are inserted into it. As a result, a large number of containers can be arranged in an annular volume @ (3-50
) is created within. The flow path of the hydraulic fluid between the paired containers is again via the fluid pipe (3-52). In the example shown in FIG. 8, each liquid pipe (3-52) forms a communicating pipe with a partner container located on the opposite side of the axis of rotation, that is, facing at 180 degrees. The point that
The idea is the same as the examples in Figures 6 and 7.

Effects of the Invention The effects of the standing device according to the present invention are as follows. That is, 1) Since the flow of the liquid is used instead of the rolling of the ball as in the conventional example, even when the inclination angle θ is a small angle, it is not affected by friction etc. and works well. A good standing characteristic can be obtained.

2) Because a multi-pole motor with a low synchronous rotation speed and a simple speed reduction mechanism are used to drive the rotating container at constant speed, the number of parts is reduced compared to the conventional gyro rotor, magnetic coupling, and ratchet type constant speed mechanism. The number of points is small, there is no rotational fluctuation, and significant cost reductions can be achieved.

3) The gyro case does not require an extension shaft for the upright device, and can have a sealed structure, preventing dirt from entering the gyro case, ensuring a long life of the rotor bearing.

4) A combination of the above multi-pole motor and deceleration TA structure,
It is mass-produced for use in timers, etc., and can be obtained at low cost.

5) Since the rotation of the rotating container is separated from the rotation of the gyro rotor, the motor, base, rotating container, etc. can be integrated into a unit as an upright device, and only these 9 parts are assembled in a separate process.
After inspecting it, you can install it in the gyro case.
Assembly, inspection or maintenance, inspection numbers, screws, etc. become extremely easy.

6) For the motor that drives the gyro rotor, as shown in the conventional example, the torque of the speed control mechanism such as the speed reduction mechanism or ratchet does not become a load, so the heat generation on the motor side is suppressed to a low level τti11, and the spin shaft bearing has a longer lifespan.

[Brief explanation of drawings]

1113! ! 1 is a schematic perspective view showing an example of a conventional horizon to which the present invention is applied, FIG. 2 is an enlarged new view of the conventional upright device used in the horizon shown in FIG. 111 above the main parts of Fig. 2, Fig. 4 is a route diagram for explaining the operation of the main parts of Fig. 2, Fig. 5 is a sectional view of an example of the standing device according to the present invention, and Figs. 6 A and B. 5 is a route map used to explain the operating principle of an example of the standing device of the present invention, and FIGS. 7 and 8 are route maps similar to FIG. 6B of other embodiments of the present invention, respectively. It is. In the figure, (3) is the standing device, (3-20) is the base, (
3-21) is the bearing holding part, (3-22), (3-22
') is a ball bearing, (3-23) is a shaft, (3-25) is a support member, (3-27) is a coupling, (3-28) is a motor, (3-29) is a drive shaft, ( 3-40) , (3-
40') is a stationary container, (3-41). (3-52) is a liquid pipe, (3-43) is a hydraulic fluid, (3-
44) is an air pipe, (3-50) is an annular container, (3-5
1) People do not accept partition class. Figure 1 Figure 5 Figure 6

Claims (1)

[Claims] a gyro case incorporating a gyro rotor whose spin axis rotates at high speed with a substantially vertical direction; A horizontal instrument comprising a support means and a second support means for supporting the first support means with a degree of freedom of rotation around a second horizontal axis perpendicular to both the spin axis and the first horizontal axis. In the erecting device for vertically holding the spin axis of the gyro rotor used for the purpose of The hydraulic fluid fills the middle of the tank and the hydraulic fluid is heated with an appropriate time constant.
A liquid pipe is provided for flowing between the pair of containers, and the pair of containers is supported so that the pair of containers and the liquid pipe are rotated around an axis substantially perpendicular to the liquid level in the pair of containers. An upright device comprising a support member, the support member being rotated at a constant speed by the motor.